You could, but you could probably be better off using a C76 or C82 as they can connect to the servo fault and enable signals.
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No, just one. Keep in mind that you have an encoder on the back of the motor that is feeding the back position of one motor and the driver corrects the position of one motor.
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Pros:
Lower cost as you use most of the parts.
The machine ends up running as it was originally intended and engineered for.
You will not deal with any mechanical coupling issues.
Cons:
DC servos use brushed motors and require lots of maint...
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